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Discrete systems Energy method Lumped-parameter analysis 1 d.o.f. Multi-d.o.f. (Eigenvalue analysis) Continuous systems Direct solving of partial differential equations Rayleighs method (the energy approach) Example: a laterally-driven folded-flexure comb-drive resonator
Reference: Singiresu S. Rao, Mechanical Vibrations, 2nd Ed., Addison-Wesley Publishing Company, Inc., 1990
ENE 5400
, Spring 2004
Energy Method
Conservation of energy; the maximum kinetic energy is equal to the maximum potential energy: Tmax = Vmax Also known as Rayleighs energy method Example: Effect of spring mass ms on the resonant frequency n
Kinetic energy of spring length dy:
dTs =
l Total kinetic energy:
y dy k m x(t)
T=
ENE 5400
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Contd
The total potential energy:
U=
1 2 kx 2
n =
k m + ms / 3
ENE 5400
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Lumped-Parameter Model
L-shape spring
=?
x m
Simplified description of 3D physical model using minimum required number of variables (coordinates) Do we have mass-less spring? A valid assumption? Can consist of a set of ordinary differential equations depending on the number of variables In Linear Control Systems, we call them the state-space equations
ENE 5400
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Degree of Freedom
x1 k1 m1 k2 k1 m1 x1 k2 m2 x2 k3
The minimum number of independent coordinates required to determine completely the positions of all parts of a system at any instant of time defines the degree of freedom of the system
ENE 5400
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F2(t) x2(t) m2 b2 b3 k3
x1(t)
k2
ENE 5400
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&& + [ b ] x & + [ k ]x = F [ m ]x
0 b1 + b2 m1 [m ] = , [ b ] = m2 0 b2 F1 F= F2
b2 k 1 + k 2 , [ k ] = b2 + b3 k2
k2 k2 + k3
In addition to the free-body diagram, equation of motion can also be derived through the Lagranges equation from the energy perspective
ENE 5400
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ENE 5400
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ENE 5400
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Eigenvalue Problem
Under free vibration and no damping, natural frequencies of a multi-d.o.f system are solutions of the eigenvalue problem
= [[ K ] [ M ]] = 0 m [ K ] [[ I ] [ K ] [ M ]] = 0 , [[ I ] [ D ]] = 0 k
2 1 2 1
[[ K ] 2 [ M ]] x = 0
The roots i = mi2/k, so i can be solved The eigenvector corresponding to the individual eigenvalue is the mode shape of the system
{
2
ENE 5400
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10
Example
From the free-body diagram:
k1 m1 x1 k2 m2 x2 k3 m3 x3
ENE 5400
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11
Contd
Let m1 = m2 = m3 = m, k1 = k2 = k3 = k, and = (k/m):
m1 0 0
0 m2 0
& x & 1
k1 + k 2
k2 k2 + k3 k3
x = [ 0] k3 2 k3 x3
x1
1 m 0 0
2 k 1 0 I
1 0 1 0 0 2 =0 2 1 m 0 1 0 1
1 0 1 1
D
0 1
ENE 5400
, Spring 2004
{14444244443
m k
2
2 1 0
1 2 1
1 0 0
1 0 =0 0 1
0 0
12
Contd
= mi2/k, solve:
2 m1 k 1 = = 0.19806, 1 = 0.44504 k m
2 =
2 m 2 k = 1.55530, 2 = 1.2471 k m
2 m 3 k 3 = = 3.24900, 3 = 1.8025 k m
ENE 5400
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13
1 2 1 1 2 1
1 ( 1 0
i k m
1 ) m 0 0
xi 1 0 2
i 0 1 x3
0 0 x1i
1 1 i 0 1 0
xi = 0 1 0 2
i 0 1 x3
0 0 x1i
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1. 0 x = x 1 1.8019 2.2470
r1 r 1
x = x 1 0.4450 0.8020
r2 r2
1 .0
ENE 5400
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ENE 5400
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ENE 5400
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2 M ( x ,t ) 2 y( x , t ) + f ( x , t ) = A( x ) 2 x t 2 2 2 y( x , t ) ] + f ( x ,t ) = A( x ) 2[ x t 2 4 2 y( x , t ) y( x , t ) EI + A = f ( x ,t ) 4 x t 2
18
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EIT (t )
d 4Y ( x ) d 2T (t ) AY x + =0 ( ) dx 4 dt 2 EI / A 4Y ( x ) 1 d 2T (t ) = = a = 2 Y ( x ) x 4 T (t ) dt 2
(3) (2)
ENE 5400
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10
= 2
EI EI = ( l )2 A Al 4
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Y (0) = 0 dY (0) = 0 dx Y (l ) = 0 EI
C = C ( C + C ) = 0 C = C
C1 + C3 = 0
2 4 3 1 4
1 424 3
0
d 2Y (l ) = 0 dx 2
ENE 5400
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22
11
Contd
From the last matrix, we get the determinant:
tan l = tanh l
The many roots of this equation, nl, will define the natural frequencies:
n = ( n l )2
Mode shape: Yn(x), Y(x), yn(x,y), and y(x,t):
EI Al 4
C2 n = C1n (
from (5) cos n l cosh n l )(sin n x sinh n x )], from (4 ) sin n l sinh n l
yn ( x , t ) = Yn ( x )( An cos n t + Bn sin n t ) y( x ,t ) =
ENE 5400
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n =1
y ( x ,t ),
n
ENE 5400
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12
Rayleighs Method
An approximate analysis using the energy perspective to find the fundamental natural frequency of continuous systems The kinetic energy of a beam:
T=
Assume a harmonic variation y(x,t) = Y(x) cos(t), the maximum kinetic energy:
Tmax =
2
2
0 Y
( x )A( x )dx
ENE 5400
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25
Contd
The potential energy V of a beam: (neglecting the work done by the shear forces)
Vmax
ENE 5400
1 l d 2Y ( x ) 2 = EI ( ) dx 2 0 dx 2
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13
Rayleighs Method
By equating Tmax to Vmax, we obtain:
d 2Y ( x ) 2 ) dx 0 dx 2 2 = l 2 AY ( x )dx
l
EI (
0
Where is Y(x) from? You have to choose Y(x), and make sure: (1) it is a reasonable beam deflection curve; (2) Y(x) must satisfy the beam boundary conditions
ENE 5400
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anchored 1 h l x
=
2
= 1.5343(
ENE 5400
Eh 2 1 / 2 ) l 4
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14
ENE 5400
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Spring Constant kx
When the resonant plate moves Xo under a given force Fo, the point B and D moves Xo/2, respectively The force acting on each beam is Fo/4 The slope at both ends of the beams are identically zero
truss
beam
anchor
plate
ENE 5400
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15
Contd
The deflection curve of beam AB is:
ENE 5400
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31
1 1 1 2 M pv2 M t vt2 + vb dM b p + 2 2 2
(Fx / 4 ) ( 2 3Ly 2y 3 )
12EI z Fx L3 48EI z
for 0 y L
x AB (L ) = X o / 2 =
ENE 5400
x AB (y ) =
, Spring 2004
2 3 Xo y y 3 2 2 L L
32
16
Contd
So the velocity profile for segment AB (multiply ) is:
v AB ( y ) =
X o y y 3 2 2 L L
2
2 2
14444244443
y 0 3 L
L 2
dM AB
= =
X o2 2 M AB 8L
y L
3 2
dy
dM AB
M AB dy L
13 2 2 X o M AB 280
33
ENE 5400
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Contd
Similarly for beam CD, the deflection curve is:
xCD ( y ) = X o + ( x AB ( y )) = X o 1
truss
3 y y + 2L L
beam y
3 y y + 2 L L
L
2 3
anchor
2
K .E . CD = =
ENE 5400
2 2 Xo M CD 2L
3 y y + 2 L L
dy
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83 2 2 X o M CD 280
plate
34
17
Since,
M AB = MCD =
ENE 5400
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Contd
The total maximum K.E. is
P .E .max =
Xo
Fx dx =
Xo
k x x dx =
1 2 kx X o 2
=
ENE 5400
kx Mp + 1 12 Mt + M 4 35 b
36
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